一种自动驾驶车辆的冗余制动控制方法和存储介质

The invention discloses a redundant braking control method and a storage medium for an automatic driving vehicle, which are applied to a whole vehicle controller. According to the method, when an automatic driving module, anti-collision early warning or remote monitoring triggering braking requirement is detected, a target deceleration is calculated by combining a vehicle speed and an obstacle distance. The total braking force is estimated by collecting the actual acceleration, the air pressure of the parking air chamber and the motor torque, and the electronic parking braking force is separated, so that the road adhesion coefficient is calculated. Under the redundant braking mode, according to the target deceleration, the attachment condition and the upper limit of the capacity of the two systems, constructing performance indexes comprising deceleration deviation and parking penalty items, and jointly distributing to obtain the target motor deceleration and the target electronic parking deceleration. And finally, converting the target parking deceleration into target air pressure by using a deceleration air pressure mapping table containing an online correction amount, and adjusting the air pressure through closed-loop control to realize accurate and stable redundant service braking.